<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: simulation/tools/simulation_io.hpp 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('simulation__io_8hpp_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">simulation_io.hpp</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_SIMULATION_IO_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_SIMULATION_IO_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;GL/glew.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifdef OPENGL_IS_A_FRAMEWORK</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor"># include &lt;OpenGL/gl.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"># include &lt;OpenGL/glu.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor"># include &lt;GL/gl.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor"># include &lt;GL/glu.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#ifdef GLUT_IS_A_FRAMEWORK</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor"># include &lt;GLUT/glut.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor"># include &lt;GL/glut.h&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// define the following in order to eliminate the deprecated headers warning</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define VTK_EXCLUDE_STRSTREAM_HEADERS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;pcl/io/vtk_lib_io.h&gt;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/camera.h&gt;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/scene.h&gt;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/range_likelihood.h&gt;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">namespace </span>simulation</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  {</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_sim_example.html">   37</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1simulation_1_1_sim_example.html">SimExample</a></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;SimExample&gt; Ptr;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const SimExample&gt; ConstPtr;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_sim_example.html">SimExample</a> (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <span class="keywordtype">int</span> height,<span class="keywordtype">int</span> width);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keywordtype">void</span> initializeGL (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        Scene::Ptr scene_;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        Camera::Ptr camera_;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        RangeLikelihood::Ptr rl_;  </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordtype">void</span> doSim (Eigen::Isometry3d pose_in);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keywordtype">void</span> write_score_image(<span class="keyword">const</span> <span class="keywordtype">float</span>* score_buffer,std::string fname);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordtype">void</span> write_depth_image(<span class="keyword">const</span> <span class="keywordtype">float</span>* depth_buffer,std::string fname);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keywordtype">void</span> write_depth_image_uint(<span class="keyword">const</span> <span class="keywordtype">float</span>* depth_buffer,std::string fname);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">void</span> write_rgb_image(<span class="keyword">const</span> uint8_t* rgb_buffer,std::string fname);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        uint16_t t_gamma[2048];  </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="comment">// of platter, usually 640x480</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">int</span> height_;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">int</span> width_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    };</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_sim_example_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_sim_example.html">pcl::simulation::SimExample</a></div><div class="ttdef"><b>Definition:</b> simulation_io.hpp:38</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_7487f41de01cca700e4de80b884d7106.html">simulation</a></li><li class="navelem"><a class="el" href="dir_040b8064d75bc626c9d291beb662c695.html">tools</a></li><li class="navelem"><b>simulation_io.hpp</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
